Epson C12 Series User manual

Rev.3 EM204R4255F
6-Axis Robots
C12 series
MANIPULATOR MANUAL

Manipulator manual C
12 series Rev.3

C12 Rev.3 i
6-Axis Robots
C12 series Manipulator Manual
Rev. 3
Copyright 2019-2020 SEIKO EPSON CORPORATION. All rights reserved.

ii C12 Rev.3
FOREWORD
Thank you for purchasing our robot products.
This manual contains the information necessary for the correct use of the manipulator.
Please carefully read this manual and other related manuals before installing the robot
system.
Keep this manual handy for easy access at all times.
WARRANTY
The robot and its optional parts are shipped to our customers only after being subjected to
the strictest quality controls, tests, and inspections to certify its compliance with our high
performance standards.
Product malfunctions resulting from normal handling or operation will be repaired free of
charge during the normal warranty period. (Please contact the supplier of your region for
warranty period information.)
However, customers will be charged for repairs in the following cases (even if they occur
during the warranty period):
1.
Damage or malfunction caused by improper use which is not described in the manual,
or careless use.
2.
Malfunctions caused by customers
’ unauthorized disassembly.
3.
Damage due to improper adjustments or unauthorized repair attempts.
4.
Damage caused by natural d
isasters such as earthquake, flood, etc.
Warnings, Cautions, Usage:
1.
If the robot or associated equipment is used outside of the usage conditions and product
specifications described in the manuals, this warranty is void.
2.
If you do not follow the WARNINGS and CAUTIONS in this manual, we cannot be
responsible for any malfunction or accident, even if the result is injury or death.
3.
We cannot foresee all possible dangers and consequences. Therefore, this manual cannot
warn the user of al
l possible hazards.

C12 Rev.3 iii
TRADEMARKS
Microsoft, Windows, and Windows logo are either registered trademarks or trademarks of
Microsoft Corporation in the United States and/or other countries. Other brand and
product names are trademarks or registered trademarks of the respective holders.
NOTICE
No part of this manual may be copied or reproduced without authorization.
The contents of this manual are subject to change without notice.
Please notify us if you should find any errors in this manual or if you have any comments
regarding its contents.
MANUFACTURER
CONTACT INFORMATION
Contact information is described in “SUPPLIERS” in the first pages of the following
manual:
Robot System Safety and Installation Read this manual first

iv C12 Rev.3
Regarding battery disposal
The crossed out wheeled bin label that can be found on your product indicates that this
product and incorporated batteries should not be disposed of via the normal household waste
stream. To prevent possible harm to the environment or human health please separate this
product and its batteries from other waste streams to ensure that it can be recycled in an
environmentally sound manner. For more details on available collection facilities please
contact your local government office or the retailer where you purchased this product. Use
of the chemical symbols Pb, Cd or Hg indicates if these metals are used in the battery.
This information only applies to customers in the European Union, according to
DIRECTIVE 2006/66/EC OF THE EUROPEAN PARLIAMENT AND OF THE
COUNCIL OF 6 September 2006 on batteries and accumulators and waste batteries and
accumulators and repealing Directive 91/157/EEC and legislation transposing and
implementing it into the various national legal systems.
For other countries, please contact your local government to investigate the possibility of
recycling your product.
The battery removal/replacement procedure is described in the following manuals:
Robot Controller manual / Manipulator manual (Maintenance section)

C12 Rev.3 v
Before Reading This Manual
This section describes what you should know before reading this manual.
Structure of Control System
C12 Manipulators can be used with the following combinations of Controllers and software.
Controller : RC700-A
Software : EPSON RC+ 7.0 Ver.7.4.6 or later
Setting by Software
EPSON
RC+
This manual contains setup procedures using the software.
Those sections are indicated by the symbol on the left.
Turning ON/OFF Controller
When you see the instruction “Turn ON/OFF the Controller” in this manual, be sure to turn
ON/OFF all the hardware components.
Photos and Illustrations Used in This Manual
The appearance of some parts may differ from those on an actual product depending on
when it was shipped or the specifications. The procedures themselves, however, are
accurate.

vi C12 Rev.3

Table of Contents
C12 Rev.3 vii
Setup & Operation
1. Safety 3
1.1 Conventions............................................................................................3
1.2 Design and Installation Safety................................................................4
1.3 Operation Safety ....................................................................................5
1.4 Emergency Stop.....................................................................................7
1.5 How to Move Arms with the Electromagnetic Brake..............................9
1.5.1 Moving the Arm using the brake release unit...........................10
1.5.2 Moving the Arm using the software..........................................10
1.6 Precaution for Operation in Low Power Status....................................10
1.7 Warning Labels.....................................................................................11
2. Specifications 13
2.1 Features of Manipulators .....................................................................13
2.2 Model Number......................................................................................13
2.3 Part Names and Motion Range of Each Arm.......................................14
2.4 Outer Dimensions.................................................................................16
2.5 Standard Motion Range .......................................................................17
2.6 Specifications .......................................................................................18
2.6.1 Specifications table ..................................................................18
2.6.2 Option .......................................................................................21
2.7 How to Set the Model...........................................................................22
3. Environment and Installation 23
3.1 Environmental Conditions ....................................................................23
3.2 Unpacking, Transportation, and Relocation.........................................24
3.3 Mounting Dimensions...........................................................................27
3.3.1 Cable Backward Model ............................................................27
3.3.2 Cable Downward Model ...........................................................28
3.4 Installation ............................................................................................29
3.5 Connecting the Cables.........................................................................32
3.6 User Wires and Pneumatic Tubes........................................................34
3.7 Checking the Basic orientation.............................................................36
4. End Effectors 37
4.1 Attaching an End Effector.....................................................................37
4.2 Attaching Camera and Air Valves.........................................................38
4.3 WEIGHT and INERTIA Settings...........................................................39
4.3.1 WEIGHT setting........................................................................41
4.3.2 INERTIA setting ........................................................................44
4.4 Precautions for Auto Acceleration/Deceleration...................................49

Table of Contents
viii C12 Rev.3
5. Motion Range 50
5.1 Motion Range Setting by Pulse Range (for Each Joint)......................50
5.1.1 Max. Pulse Range of Joint #1 ..................................................51
5.1.2 Max. Pulse Range of Joint #2 ..................................................51
5.1.3 Max. Pulse Range of Joint #3 ..................................................52
5.1.4 Max. Pulse Range of Joint #4 ..................................................52
5.1.5 Max. Pulse Range of Joint #5 ..................................................53
5.1.6 Max. Pulse Range of Joint #6 ..................................................53
5.2 Motion Range Setting by Mechanical Stops........................................54
5.2.1 Motion Range Setting of Joint #1.............................................54
5.2.2 Motion Range Setting of Joint #2.............................................55
5.2.3 Motion Range Setting of Joint #3.............................................55
5.3 Restriction of Manipulator Operation by Joint Angle Combination......56
5.4 Coordinate System...............................................................................57
5.5 Changing the Robot .............................................................................58
5.6 Setting the Cartesian (Rectangular) Range
in the XY Coordinate System of the Manipulator ................................59
6. Options 60
6.1 Brake Release Unit ..............................................................................60
6.2 Camera Plate Unit................................................................................64
6.3 Tool Adapter (ISO Flange) ...................................................................66
6.4 Adjustable Mechanical Stops...............................................................67
6.5 User Wires and Pneumatic Tubes .......................................................68
Maintenance
1. Safety Maintenance 71
2. General Maintenance 72
2.1 Maintenance Inspection .......................................................................72
2.1.1 Schedule for Maintenance Inspection......................................72
2.1.2 Inspection Point........................................................................73
2.2 Overhaul (Parts Replacement) ............................................................75
2.3 Greasing...............................................................................................77
2.3.1 Joint #1 Reduction Gear Unit...................................................79
2.3.2 Joint #2 Reduction Gear Unit...................................................80
2.3.3 Joint #3 Reduction Gear Unit...................................................81
2.3.4 Joint #4 Reduction Gear Unit...................................................82
2.3.5 Joint #5 Reduction Gear Unit...................................................83
2.3.6 Joint #6 Reduction Gear Unit...................................................84
2.3.7 Joint #6 Bevel Gear..................................................................85
2.4 Tightening Hexagon Socket Head Bolts..............................................86
2.5 Layout of Maintenance Parts ...............................................................87